Controller design based on the 1st order constrained dynamics

The paper presents polynomial controller design giving the 1(st) order constrained closed loop dynamics. As particular examples, constrained PID and PI-Dead Time (predictive) controllers are derived. These examples characterize two most important design features compensation of just some of parasitic time delays that enables to increase the reliability of the controller tuning and, secondly, derivation of reasonably improved dead-time (predictive) controller with fully adjustable set point and disturbance response dynamics applicable to both the marginally stable and unstable systems.